Manual

Supported Objects 39
Doc.Id. HMSI-216-117
CM CANopen Module for SIMATIC S7-1200
Doc.Rev. 1.00
Status CM CANopen, 5000h, subindex 02h
The table below gives the state of CM CANopen that can be read from subindex 02h of the Status CM
CANopen object. The bits are valid either in manager or slave mode or in both.
Status CM CANopen, 5000h, subindex 03h
The table below gives the CM CANopen communication state that can be read from subindex 03h of
the Status CM CANopen object.
Value Name Mode Description
00h INIT Both The CM CANopen is not initialized
40h MASTER_STATE_RESET Both The CM CANopen is configured as a manager in the NMT startup
object (1F80h). The object dictionary of the CM CANopen may be
configured by SDOs via the CAN bus or the SDO command inter
-
face.
41h SLAVE_STOPPED Slave The CM CANopen is in the NMT state Stopped.
42h SLAVE_PREOP Slave The CM CANopen is in the NMT state Pre-operational.
43h SLAVE_OP Slave The CM CANopen is in the NMT state Operational.
60h PREPARE_NET_INIT Manager Bootup according to CiA 302. The CM CANopen verifies the NMT
slave assignment.
61h NTW_RESET Manager The network is reset by NMT reset communication all nodes.
62h NTW_WAIT Manager The CM CANopen waits for a previously defined time (default 2 s),
to enable the other nodes on the network to execute the NMT reset
communication command.
64h BOOT_CONF Manager The CM CANopen carries out the initialization of the individual
devices according to CiA 302.
70h BOOT_END_MISSING_MAND Manager The network has been scanned. At least one mandatory module is
missing and the boot time has not expired.
8Xh
a
a. The last four bits contain additional information:
CLEAR Manager The network has been scanned, but no commands to start the CM
CANopen or the CANopen network has yet arrived.
AXh
a
RUN Manager The network has been set to the NMT state Operational.
CXh
a
STOP Manager The network has been stopped.
EXh
a
PRE-OPERATIONAL Manager The network has been set to NMT state Pre-operational
90h FATAL_ERROR Manager A fatal error has occurred. The CM CANopen must be reinitialized.
Bit No Description
0 Error bit for optional or unexpected modules.
0: No error.
1: At least one optional or unexpected module does not correspond to the expected network configuration.
1 Error bit for mandatory modules.
0: No error.
1: At least one mandatory module does not match the expected state.
2 General operational bit.
0: No CANopen slave is in NMT state Operational
1: At least one CANopen slave is in NMT state Operational
3 CM CANopen operational bit.
0: The CM CANopen is not in NMT state Operational.
1: The CM CANopen is in NMT state Operational.
Bit No Description
0 Not supported, always 0.
1 An overrun of the CAN controller occurred.
2 The CAN controller is bus off.
3 0: The CAN controller is in error active state.
1: The CAN controller is in error passive state.
4 The CAN controller error state has changed. Bit is reset after a read access.